class mp2p_icp_filters::FilterRemoveByVoxelOccupancy

Overview

Removes points from an input point cloud layer by occupancy of another input voxel layer. Can be used to remove dynamic objects. Both input layers are assumed to be in the same frame of reference.

There are two output layer (you can define one or both):

• output_layer_static_objects : for those points within voxels with high occupancy (“static objects”).

• output_layer_dynamic_objects : for those points within voxels with low occupancy (“dynamic objects”).

The input layers are:

• input_pointcloud_layer : The input cloud.

• input_voxel_layer : It must be of type mrpt::maps::CVoxelMap and contains the occupancy of each volume of the map.

#include <FilterRemoveByVoxelOccupancy.h>

class FilterRemoveByVoxelOccupancy: public mp2p_icp_filters::FilterBase
{
public:
    // structs

    struct Parameters;

    // fields

    Parameters params_;

    // methods

    virtual void initialize(const mrpt::containers::yaml& cfg_block);
    virtual void filter(mp2p_icp::metric_map_t& inOut) const;
};

Inherited Members

public:
    // methods

    virtual void initialize(const mrpt::containers::yaml& cfg_block) = 0;
    virtual void filter(mp2p_icp::metric_map_t& inOut) const = 0;

Fields

Parameters params_

Algorithm parameters

Methods

virtual void initialize(const mrpt::containers::yaml& cfg_block)

Loads, from a YAML configuration block, all the common, and implementation-specific parameters.

virtual void filter(mp2p_icp::metric_map_t& inOut) const

See docs above for FilterBase.